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ubx gps driver: add error handling when write(...) fails

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this also fixes a compiler warning
This commit is contained in:
Beat Küng
2016-04-11 11:23:01 +02:00
committed by tumbili
parent 95c7534712
commit 851340eccc
2 changed files with 66 additions and 27 deletions
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src/drivers/gps/ubx.cpp
+62 -25
View File
@@ -131,7 +131,9 @@ UBX::configure(unsigned &baudrate)
_buf.payload_tx_cfg_prt.inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK;
_buf.payload_tx_cfg_prt.outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK;
send_message(UBX_MSG_CFG_PRT, _buf.raw, sizeof(_buf.payload_tx_cfg_prt));
if (!send_message(UBX_MSG_CFG_PRT, _buf.raw, sizeof(_buf.payload_tx_cfg_prt))) {
continue;
}
if (wait_for_ack(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false) < 0) {
/* try next baudrate */
@@ -146,7 +148,9 @@ UBX::configure(unsigned &baudrate)
_buf.payload_tx_cfg_prt.inProtoMask = UBX_TX_CFG_PRT_INPROTOMASK;
_buf.payload_tx_cfg_prt.outProtoMask = UBX_TX_CFG_PRT_OUTPROTOMASK;
send_message(UBX_MSG_CFG_PRT, _buf.raw, sizeof(_buf.payload_tx_cfg_prt));
if (!send_message(UBX_MSG_CFG_PRT, _buf.raw, sizeof(_buf.payload_tx_cfg_prt))) {
continue;
}
/* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */
wait_for_ack(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false);
@@ -170,7 +174,9 @@ UBX::configure(unsigned &baudrate)
_buf.payload_tx_cfg_rate.navRate = UBX_TX_CFG_RATE_NAVRATE;
_buf.payload_tx_cfg_rate.timeRef = UBX_TX_CFG_RATE_TIMEREF;
send_message(UBX_MSG_CFG_RATE, _buf.raw, sizeof(_buf.payload_tx_cfg_rate));
if (!send_message(UBX_MSG_CFG_RATE, _buf.raw, sizeof(_buf.payload_tx_cfg_rate))) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_RATE, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
@@ -182,7 +188,9 @@ UBX::configure(unsigned &baudrate)
_buf.payload_tx_cfg_nav5.dynModel = UBX_TX_CFG_NAV5_DYNMODEL;
_buf.payload_tx_cfg_nav5.fixMode = UBX_TX_CFG_NAV5_FIXMODE;
send_message(UBX_MSG_CFG_NAV5, _buf.raw, sizeof(_buf.payload_tx_cfg_nav5));
if (!send_message(UBX_MSG_CFG_NAV5, _buf.raw, sizeof(_buf.payload_tx_cfg_nav5))) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_NAV5, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
@@ -193,7 +201,9 @@ UBX::configure(unsigned &baudrate)
memset(&_buf.payload_tx_cfg_sbas, 0, sizeof(_buf.payload_tx_cfg_sbas));
_buf.payload_tx_cfg_sbas.mode = UBX_TX_CFG_SBAS_MODE;
send_message(UBX_MSG_CFG_SBAS, _buf.raw, sizeof(_buf.payload_tx_cfg_sbas));
if (!send_message(UBX_MSG_CFG_SBAS, _buf.raw, sizeof(_buf.payload_tx_cfg_sbas))) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_SBAS, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
@@ -206,7 +216,9 @@ UBX::configure(unsigned &baudrate)
/* try to set rate for NAV-PVT */
/* (implemented for ubx7+ modules only, use NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC for ubx6) */
configure_message_rate(UBX_MSG_NAV_PVT, 1);
if (!configure_message_rate(UBX_MSG_NAV_PVT, 1)) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
_use_nav_pvt = false;
@@ -218,51 +230,67 @@ UBX::configure(unsigned &baudrate)
UBX_DEBUG("%susing NAV-PVT", _use_nav_pvt ? "" : "not ");
if (!_use_nav_pvt) {
configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5);
if (!configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5)) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_POSLLH, 1);
if (!configure_message_rate(UBX_MSG_NAV_POSLLH, 1)) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_SOL, 1);
if (!configure_message_rate(UBX_MSG_NAV_SOL, 1)) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_VELNED, 1);
if (!configure_message_rate(UBX_MSG_NAV_VELNED, 1)) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
}
configure_message_rate(UBX_MSG_NAV_DOP, 1);
if (!configure_message_rate(UBX_MSG_NAV_DOP, 1)) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0);
if (!configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0)) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_MON_HW, 1);
if (!configure_message_rate(UBX_MSG_MON_HW, 1)) {
return 1;
}
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
/* request module version information by sending an empty MON-VER message */
send_message(UBX_MSG_MON_VER, nullptr, 0);
if (!send_message(UBX_MSG_MON_VER, nullptr, 0)) {
return 1;
}
_configured = true;
return 0;
@@ -328,17 +356,18 @@ UBX::receive(const unsigned timeout)
}
} else {
UBX_DEBUG("read %d bytes", ret);
//UBX_DEBUG("read %d bytes", ret);
/* pass received bytes to the packet decoder */
for (int i = 0; i < ret; i++) {
handled |= parse_char(buf[i]);
UBX_DEBUG("parsed %d: 0x%x", i, buf[i]);
//UBX_DEBUG("parsed %d: 0x%x", i, buf[i]);
}
}
/* abort after timeout if no useful packets received */
if (time_started + timeout * 1000 < hrt_absolute_time()) {
UBX_DEBUG("cur=%li, start=%li", hrt_absolute_time()/1000, time_started/1000);
UBX_DEBUG("timed out, returning");
return -1;
}
@@ -634,7 +663,9 @@ UBX::payload_rx_init()
/* don't attempt for every message to disable, some might not be disabled */
_disable_cmd_last = t;
UBX_DEBUG("ubx disabling msg 0x%04x", SWAP16((unsigned)_rx_msg));
configure_message_rate(_rx_msg, 0);
if (!configure_message_rate(_rx_msg, 0)) {
ret = -1;
}
}
}
@@ -1073,7 +1104,7 @@ UBX::calc_checksum(const uint8_t *buffer, const uint16_t length, ubx_checksum_t
}
}
void
bool
UBX::configure_message_rate(const uint16_t msg, const uint8_t rate)
{
ubx_payload_tx_cfg_msg_t cfg_msg; // don't use _buf (allow interleaved operation)
@@ -1081,10 +1112,10 @@ UBX::configure_message_rate(const uint16_t msg, const uint8_t rate)
cfg_msg.msg = msg;
cfg_msg.rate = rate;
send_message(UBX_MSG_CFG_MSG, (uint8_t *)&cfg_msg, sizeof(cfg_msg));
return send_message(UBX_MSG_CFG_MSG, (uint8_t *)&cfg_msg, sizeof(cfg_msg));
}
void
bool
UBX::send_message(const uint16_t msg, const uint8_t *payload, const uint16_t length)
{
ubx_header_t header = {UBX_SYNC1, UBX_SYNC2};
@@ -1102,13 +1133,19 @@ UBX::send_message(const uint16_t msg, const uint8_t *payload, const uint16_t len
}
// Send message
write(_fd, (const void *)&header, sizeof(header));
if (payload != nullptr) {
write(_fd, (const void *)payload, length);
if (write(_fd, (const void *)&header, sizeof(header)) != sizeof(header)) {
return false;
}
write(_fd, (const void *)&checksum, sizeof(checksum));
if (payload && write(_fd, (const void *)payload, length) != length) {
return false;
}
if (write(_fd, (const void *)&checksum, sizeof(checksum)) != sizeof(checksum)) {
return false;
}
return true;
}
uint32_t
src/drivers/gps/ubx.h
+4 -2
View File
@@ -531,13 +531,15 @@ private:
/**
* Send a message
* @return true on success, false on write error (errno set)
*/
void send_message(const uint16_t msg, const uint8_t *payload, const uint16_t length);
bool send_message(const uint16_t msg, const uint8_t *payload, const uint16_t length);
/**
* Configure message rate
* @return true on success, false on write error
*/
void configure_message_rate(const uint16_t msg, const uint8_t rate);
bool configure_message_rate(const uint16_t msg, const uint8_t rate);
/**
* Calculate & add checksum for given buffer